环境
Ubuntu 14.04 +ROS indigo
准备工作
一.准备工作空间
依次执行以下命令:
mkdir -p /home/catkin_ws/src
cd /home/catkin_ws/src/
catkin_init_workspace
cd .. && catkin_make
echo "source /home/catkin_ws/devel/setup.bash" >> ~/.bashrc
chmod 777 catkin_ws/
source /home/catkin_ws/devel/setup.bash
source ~/.bashrc
现在/home/catkin_ws
就是ROS的工作空间。
然后在目录:/home/catkin_ws/src
下克隆rbx1
,进行如下操作:
git clone https://github.com/pirobot/rbx1.git
cd rbx1/
git checkout indigo-devel
cd ../..
catkin_make
source devel/setup.bash
rospack profile
如果提示:no module named em
,执行:
pip install empy
接下来在目录/home/catkin_ws/src
下克隆ros_tutorials
,进行如下操作:
git clone https://github.com/ros/ros_tutorials.git
cd ros_tutorials
git checkout indigo-devel
cd ../..
catkin_make
source devel/setup.bash
rospack profile
首先需要安装一些必要的软件包。直接执行下面的命令进行安装:
sudo apt-get install -y ros-indigo-turtlebot-bringup \
ros-indigo-turtlebot-create-desktop ros-indigo-openni-* \
ros-indigo-openni2-* ros-indigo-freenect-* ros-indigo-usb-cam \
ros-indigo-laser-* ros-indigo-hokuyo-node \
ros-indigo-audio-common gstreamer0.10-pocketsphinx \
ros-indigo-pocketsphinx ros-indigo-slam-gmapping \
ros-indigo-joystick-drivers python-rosinstall \
ros-indigo-orocos-kdl ros-indigo-python-orocos-kdl \
python-setuptools ros-indigo-dynamixel-motor-* \
libopencv-dev python-opencv ros-indigo-vision-opencv \
ros-indigo-depthimage-to-laserscan \
ros-indigo-turtlebot-teleop ros-indigo-move-base \
ros-indigo-map-server ros-indigo-fake-localization \
ros-indigo-amcl
可视化工具安装
rviz :The ROS Visualization Tool ,即机器人操作系统3D可视化工具。它的作用就是:一个虚拟世界,用来模拟机器人在现实世界的运行效果。简单的说它就是ROS的一个模拟器软件。
新开一个终端,执行下面的命令:
sudo apt-get install ros-indigo-arbotix-*
Turtlebot包安装
apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs